CN107544552B - Suspension rocker key control device and method - Google Patents
Suspension rocker key control device and method Download PDFInfo
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- CN107544552B CN107544552B CN201710833148.7A CN201710833148A CN107544552B CN 107544552 B CN107544552 B CN 107544552B CN 201710833148 A CN201710833148 A CN 201710833148A CN 107544552 B CN107544552 B CN 107544552B
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Abstract
The invention belongs to the technical field of intelligent remote control, and particularly relates to a suspension rocking key control device and a method, wherein the device comprises a signal processing module, a suspension rocking key suspended in a magnetic field above a magnetic induction plate, and a magnetic data acquisition module and a display module which are arranged on the magnetic induction plate; the magnetic data acquisition module is used for acquiring magnetic induction data from the magnetic induction plate according to the position change of the suspension rocker key and sending the magnetic induction data to the signal processing module; the signal processing module is used for analyzing the magnetic induction data and acquiring a user control instruction corresponding to the magnetic induction data; controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction; the device has the characteristics of simple and visual operation; in addition, the hand of the user can be fully contacted with the suspension rocker key, and the interaction experience of the user is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent remote control, and particularly relates to a suspension rocker key control device and method.
Background
The existing key-operated control equipment can only realize the control of front, back, left and right two-dimensional space. With the rapid development of remote control devices, three-dimensional control devices such as a virtual keyboard, a virtual mouse, a virtual pen and the like begin to appear, for example, an infrared virtual keyboard converts the position change of finger infrared rays relative to a virtual keyboard image into an electric signal through an infrared camera device, and identifies the hitting position of a finger according to the electric signal to complete the clicking operation, so that a user does not need to carry an entity keyboard, and can realize silent operation.
However, the virtual control technology lacks hand feeling, and a user cannot realize accurate control of a control object through the touch nerve perception control equipment on the finger, so that the interaction experience of the user is greatly reduced. And, in the unmanned aerial vehicle field of controlling, it is great to utilize above-mentioned current remote control equipment to realize controlling the degree of difficulty of unmanned aerial vehicle, and only professional unmanned aerial vehicle operator can accomplish controlling of unmanned aerial vehicle usually for unmanned aerial vehicle controls the popularization and receives the hindrance.
Disclosure of Invention
In view of this, the embodiment of the invention provides a device and a method for controlling a suspended rocker key, and aims to solve the problems that the existing remote control equipment has high control difficulty on an unmanned aerial vehicle and poor user interaction experience.
The first aspect of the embodiment of the invention provides a suspension rocking key control device, which comprises a signal processing module, a suspension rocking key suspended in a magnetic field above a magnetic induction plate, a magnetic data acquisition module and a display module, wherein the magnetic data acquisition module and the display module are arranged on the magnetic induction plate;
the magnetic data acquisition module is used for acquiring magnetic induction data from the magnetic induction plate according to the position change of the suspension rocker key and sending the magnetic induction data to the signal processing module;
the signal processing module is used for analyzing the magnetic induction data and acquiring a user control instruction corresponding to the magnetic induction data; controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
the signal processing module is also used for receiving aerial images from the unmanned aerial vehicle and controlling the display module to display the aerial images.
The second aspect of the embodiments of the present invention provides a method for controlling a floating rocker key, including:
acquiring magnetic induction data according to the position change of the suspension rocker key;
analyzing the magnetic induction data to obtain a user control instruction corresponding to the magnetic induction data;
controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
and receiving the aerial image of the unmanned aerial vehicle, and displaying the aerial image.
In the embodiment of the invention, when a user operates the unmanned aerial vehicle, the position of the suspension rocker key can be changed only by touching the suspension rocker key corresponding to the unmanned aerial vehicle, so that the magnetic force of the suspension rocker key is changed, the magnetic force induction data of the user for operating the unmanned aerial vehicle is further acquired, and the flight attitude of the unmanned aerial vehicle is controlled according to the user operation command corresponding to the magnetic force induction data; the user can realize the control of the unmanned aerial vehicle by simply touching the suspension rocker key, and meanwhile, the user can also visually know the flight state of the unmanned aerial vehicle according to the aerial image, so that the control of the unmanned aerial vehicle is better realized through the suspension rocker key, and the unmanned aerial vehicle has the characteristics of simple and visual operation; and, user's hand can with the suspension is shaken the key and is fully contacted, accurate perception the gesture that the key was shaken in the suspension realizes right unmanned aerial vehicle's accuracy is controlled, has improved user's interactive experience.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first structural block diagram of a floating rocker key control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a floating rocker key control device according to an embodiment of the present invention;
fig. 3 is a schematic view of a first structure of a suspended rocker key attitude corresponding to a flight attitude of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a second structure in which the attitude of the suspended rocker key corresponds to the flight attitude of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a second structural block diagram of a floating rocker key control device according to an embodiment of the present invention;
fig. 6 is a schematic view of flight trajectories when unmanned aerial vehicles meet each other according to an embodiment of the present invention;
fig. 7 is a schematic diagram of group unmanned aerial vehicle synchronous acceleration provided by the embodiment of the present invention;
fig. 8 is a third structural block diagram of a floating rocker key control device according to an embodiment of the present invention;
fig. 9 is a flowchart of an implementation of a method for controlling a floating rocker key according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a suspension rocker key control device which is applied to flight control of an unmanned aerial vehicle.
The unmanned aerial vehicle comprises an aerial photographing module and a flight control module, wherein the aerial photographing module is used for photographing aerial images when the unmanned aerial vehicle flies, namely the aerial images can embody flight position information of the unmanned aerial vehicle, for example, when a certain building appears in the aerial images of the unmanned aerial vehicle, the unmanned aerial vehicle is flying over the air of the building. Unmanned aerial vehicle's flight control module includes gyroscope, accelerometer, earth induction, control circuit or GPS module, and its main function is for keeping unmanned aerial vehicle's normal flight gesture.
Fig. 1 shows a first structural block diagram of a floating rocker key manipulation device 100 according to an embodiment of the present invention, which includes a signal processing module 110, a floating rocker key floating in a magnetic field above a magnetic induction plate, and a magnetic data acquisition module 120 and a display module 130 disposed on the magnetic induction plate;
fig. 2 shows a schematic structural diagram of a floating rocker key control device 100 according to an embodiment of the present invention, where the device 100 includes at least one floating rocker key 140, each floating rocker key 140 uniquely corresponds to one drone, and an acceleration generated by the floating rocker key when a position of the floating rocker key changes corresponds to an acceleration change of a flight of the drone. The unmanned aerial vehicle has the advantages that one unmanned aerial vehicle operator can simultaneously control the flight of a plurality of unmanned aerial vehicles, for example, the unmanned aerial vehicle can fly to form a team for performing and the like, so that the phenomenon that a plurality of unmanned aerial vehicle operators are required to control the unmanned aerial vehicle cluster in the prior art is changed, the control difficulty of the unmanned aerial vehicle cluster is greatly reduced, and the control efficiency of the unmanned aerial vehicle cluster is improved. The unmanned aerial vehicle operator can easily complete formation performance without complex professional training. The unmanned aerial vehicle operator can complete the complex performance of the unmanned aerial vehicle cluster through the preset flight control action track packet without simultaneously coordinating multiple persons to complete the performance of the unmanned aerial vehicle cluster, thereby further improving the group performance efficiency and reducing the difficulty of the unmanned aerial vehicle cluster control.
Specifically, the suspension is shaken the key 140 and is suspended in the magnetic field of magnetic induction board 121 top to control with the user unmanned aerial vehicle one-to-one, when the user controls unmanned aerial vehicle 200, only need the touching correspond with this unmanned aerial vehicle the suspension shakes key 140, can make the position of suspension shakes the key changes, thereby makes with the suspension shakes the key 140 and corresponds unmanned aerial vehicle's flight gesture changes, the real-time reflection of suspension shakes the gesture of key 140 unmanned aerial vehicle's flight gesture. For example, fig. 3 shows a first structural diagram of the suspension rocker key attitude and the drone flight attitude provided by the embodiment of the present invention, when the suspension rocker key 140a performs a position change along one vertex direction of the illustrated cube (the direction indicated by the small arrow in the figure), its corresponding drone 200a will fly from the position of 200a to the position of 200 a'. For another example, fig. 4 shows a second schematic structural diagram of the suspension rocker key attitude and the unmanned aerial vehicle flight attitude corresponding to the suspension rocker key attitude provided by the embodiment of the invention, in the drawing, the eight suspension rocker keys 140 respectively correspond to the eight unmanned aerial vehicles 200, and when the eight suspension rocker keys 140 change positions along eight vertex directions (directions indicated by small arrows in the drawing) of the illustrated cube, the corresponding eight unmanned aerial vehicles 200 will fly from the solid line track a to the dotted line track b in the drawing. The suspension rocker key 140 is restored to the position before being hit or touched under the action of magnetic force after being hit or touched every time, and the original shape is restored after the spring is elastically deformed, so that the user can perform the next operation at the original position;
the magnetic data acquisition module 120 is configured to acquire magnetic induction data from the magnetic induction plate 121 according to the position change of the floating rocker key 140, and send the magnetic induction data to the signal processing module 110;
the suspension rocker key 140 is a magnetic robot, and is mainly used for providing control for a user for the input device of the unmanned aerial vehicle, and the acceleration of the position change of the suspension rocker key corresponds to the acceleration change of the flight of the unmanned aerial vehicle. Specifically, a user hits or touches the floating rocker key 140 to change the position of the floating rocker key, and the acceleration direction and the acceleration magnitude of the position change correspond to the acceleration direction and the acceleration magnitude of the magnetic force change of the floating rocker key, so that the magnetic data acquisition module 120 can acquire magnetic induction data from the magnetic induction plate 121 according to the position change of the floating rocker key 140; the magnetic force induction data comprise the acceleration direction and the acceleration magnitude of the magnetic force change.
In one embodiment, the magnetic induction plate 121 includes a magnetic force generating device for providing a magnetic field to the floating rocker key 140 floating above the magnetic induction plate 121, and the magnetic force generating device may be a magnet having a different magnetic property from the floating rocker key 140, and may also be a magnetic generator.
The signal processing module 110 is configured to analyze the magnetic force sensing data and obtain a user control instruction corresponding to the magnetic force sensing data; controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
the user control instruction corresponding to the magnetic induction data refers to a control instruction which can be recognized by a flight control module of the unmanned aerial vehicle, for example, the user control instruction comprises the flight direction and the acceleration magnitude of the unmanned aerial vehicle, that is, the acceleration direction and the acceleration magnitude of the magnetic force change in the magnetic induction data correspond to the acceleration direction and the acceleration magnitude of the unmanned aerial vehicle, so that the flight control module of the unmanned aerial vehicle can adjust the flight attitude of the unmanned aerial vehicle according to the user control instruction. Wherein, unmanned aerial vehicle's flight gesture includes unmanned aerial vehicle's flight direction and acceleration size.
In one embodiment, the signal processing module 110 may be a processor, which may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. Which may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In this embodiment, preferably, the signal processing module 110 is a single chip microcomputer, which may be an STM32 series single chip microcomputer, and the STM32 series single chip microcomputer has the advantages of high performance kernel, low power consumption, high integration, simple structure, and the like, and has high-speed data processing capability.
Fig. 5 shows a second structural block diagram of the floating rocker key control device 100 according to an embodiment of the present invention, and as an implementation manner, the device further includes a wireless communication module 150, and the signal processing module sends the user control instruction to a flight control module of the unmanned aerial vehicle through the wireless communication module. The wireless communication module carries out wireless communication in modes of Bluetooth transmission, wifi transmission or infrared transmission and the like.
The signal processing module 110 is further configured to receive the aerial image from the unmanned aerial vehicle, and control the display module to display the aerial image.
As an embodiment, the wireless communication module 150 receives the aerial image of the unmanned aerial vehicle collected by the aerial camera module, and sends the aerial image to the signal processing module 110, and the signal processing module 110 receives the aerial image and controls the display module 130 to display the aerial image.
The aerial images can be shot in various imaging modes such as thermal imaging, infrared imaging, magnetic imaging, radar imaging, laser imaging, terahertz imaging, microwave imaging or holographic imaging. The aerial images displayed on the display module correspond to the aerial images shot by the unmanned aerial vehicle in real time. In practical application, a user combines the suspension rocker key 140 with the aerial image to watch the aerial image, so that the experience similar to that of the user who rides on the unmanned aerial vehicle and watches scenery outwards is realized, the user can directly know the flight state of the unmanned aerial vehicle according to the aerial image, and the unmanned aerial vehicle can be better controlled through the suspension rocker key 140, and the unmanned aerial vehicle has the characteristics of simplicity in operation and intuition; moreover, the hand of the user can be in full contact with the suspension rocking key 140, so that the gesture of the suspension rocking key 140 is accurately sensed, the unmanned aerial vehicle is accurately controlled, and the interaction experience of the user is improved. In addition, the user can also find a target to be searched according to the aerial image, for example, when the user wants to watch a certain scenery, the user can watch the aerial image returned by the unmanned aerial vehicle, and the interaction experience of the user is further improved.
As an implementation manner, the aerial photography module of the unmanned aerial vehicle includes an even line shooting unit and an odd line shooting unit, where the even line shooting unit and the odd line shooting unit are used to perform interlaced shooting on the aerial image to obtain an even line aerial image and an odd line aerial image;
the signal processing module 110 is further configured to receive the even-line aerial image and the odd-line aerial image from the unmanned aerial vehicle, and control the display module to alternately display the even-line aerial image and the odd-line aerial image.
In the multi-azimuth shooting process of the unmanned aerial vehicle aerial shooting camera module, the aerial image transmission in some directions is discontinuous due to the fact that the flying speed of the unmanned aerial vehicle is higher than the shooting speed, and the aerial image seen by a user is blocked. In order to coordinate the calibration process of the floating rocker key 140 with respect to the continuously moving map in the aerial image displayed by the display module, the transmission of real-time continuous images is completed. Therefore, the method of alternately carrying out even line shooting and odd line shooting is adopted, so that interlaced shooting is realized, the time for shooting the whole image is shortened, and aerial images seen by a user are continuous and are not jammed.
Specifically, when the aerial image is captured by the aerial camera module, the aerial image is captured in a row from the upper side of the image to the lower side of the image, so that when the aerial camera module of the unmanned aerial vehicle captures an even line, the odd line is captured, and similarly, when the aerial camera module of the unmanned aerial vehicle captures an odd line, the even line is captured, so that the image capturing time is saved.
It should be noted that the aerial images of the drones are generally transmitted back by the drone leader of the plurality of drones, and the drones except the drone leader only transmit back the position information of the drone leader to the signal processing module 110. Thereby reducing the data processing amount of the signal processing module 110 and increasing the signal processing speed of the signal processing module 110. In addition, when the flight position of the leader of the unmanned aerial vehicle is separated from the preset position, the signal processing module 110 is further configured to control the display module to display the average shot image of the unmanned aerial vehicle group, so as to correct the vision. The unmanned aerial vehicle leader can be a user-defined unmanned aerial vehicle.
The signal processing module 140 is further configured to adjust the flight speed of the at least two unmanned aerial vehicles according to the distance between the at least two unmanned aerial vehicles when the distance is smaller than a set value.
Fig. 6 shows a schematic view of flight trajectories when the unmanned aerial vehicles meet, where when a user operates the unmanned aerial vehicles, there is a possibility that at least two unmanned aerial vehicles 200a and 200b collide due to unskilled operation or misoperation, and therefore, the signal processing module 140 is further configured to optimally adjust the flight attitudes of the unmanned aerial vehicles by using an intelligent algorithm to avoid collision of the unmanned aerial vehicles, for example, when the positioning of the GPS module of the unmanned aerial vehicles shows that the separation distance between at least two unmanned aerial vehicles is smaller than a safe distance, when the signal processing module 140 sends a user control instruction to the flight control module of the unmanned aerial vehicles, the signal processing module adjusts the flight speeds of the unmanned aerial vehicles 200a and 200b in combination with the separation distance of the unmanned aerial vehicles to enable the meeting unmanned aerial vehicles 200a and 200b to approach infinitely but not collide with each other, the user can avoid worrying about the collision problem of the unmanned aerial vehicle, so that the control difficulty of the unmanned aerial vehicle is reduced, and the user can control the unmanned aerial vehicle more freely.
As an embodiment, for better reducing the difficulty of controlling a plurality of unmanned aerial vehicles, the signal processing module 110 is further configured to accelerate other unmanned aerial vehicles according to corresponding acceleration according to the separation distance between the other unmanned aerial vehicles and the unmanned aerial vehicle when the acceleration of a certain unmanned aerial vehicle is greater than a set value, so that the control of the unmanned aerial vehicle fleet tends to be stable, and a user can control the unmanned aerial vehicles in the fleet. For example, fig. 7 shows a group drone synchronization acceleration diagram provided by an embodiment of the present invention; when unmanned aerial vehicle 200a in the swarm unmanned aerial vehicle flies according to flight trajectory g, flight direction f, acceleration a, signal processing module basis unmanned aerial vehicle 200b, 200c, 200d with unmanned aerial vehicle 200 a's interval distance controls unmanned aerial vehicle 200b, 200c, 200d fly with acceleration b, c, d, flight trajectory g, flight direction f, avoid the phenomenon that unmanned aerial vehicle appears falling behind.
Fig. 8 shows a third structural block diagram of the floating rocker key manipulation device 100 according to the embodiment of the present invention, where the device 100 further includes a pattern matching module 160, and if the number of times that the distance is less than the set value is greater than the set number of times, the pattern matching module is configured to match a corresponding operation pattern for the device and provide an air control motion trajectory packet, where the air control motion trajectory packet stores position change information of the floating rocker key in advance.
The set number of times is set according to actual application, and for example, the set number of times may be 5 times.
As described above, when the user frequently appears at least two cases when the unmanned aerial vehicle 200a, 200b collides, the mode matching module matches the corresponding operation mode for the user, for example, matches the operation mode with lower difficulty for the user, for example, when the user touches the suspension rocker key 140, through reducing the amount of change in the unmanned aerial vehicle direction and the amount of change in the acceleration size, so that the unmanned aerial vehicle operation rhythm slows down, and the user has enough time to perform the unmanned aerial vehicle operation in the next stage, so as to adapt to the unmanned aerial vehicle operators with different professional degrees.
In addition, the pattern matching module 160 is further configured to provide a flight control motion trajectory package for the user, where the flight control motion trajectory package stores the position change information of the floating rocker key in advance.
Specifically, when the user is less skilled in controlling the unmanned aerial vehicle, it is difficult to complete the control of the high-difficulty flight action, so when the user wants to experience the control of the high-difficulty flight action, the control can be completed through the flight control action track packet provided by the pattern matching module 160, the flight control action track packet is the position change information of the floating rocker key pre-stored in the pattern matching module memory, the position change information of the floating rocker key is the position change information of the floating rocker key recorded when the unmanned aerial vehicle operator with a higher professional degree controls the floating rocker key to realize the high-difficulty flight control action, when the user calls the flight control action track packet, the signal processing module 110 is configured to control the magnetic data acquisition module to drive the floating rocker key 140 to change its position, and the magnetic data acquisition module reacquires the magnetic induction data generated by the position change of the floating rocker key 140 corresponding to the unmanned aerial vehicle, and sending the magnetic induction data to the signal processing module to complete the control of the unmanned aerial vehicle. Make ordinary unmanned aerial vehicle operator also can experience controlling of the high degree of difficulty flight control action of unmanned aerial vehicle. And to professional unmanned aerial vehicle operator, the mode matching module can be for its operation mode that matches the higher degree of difficulty of controlling can satisfy it and control the demand to make the unmanned aerial vehicle operator of different professional degrees can control unmanned aerial vehicle according to self demand, reach higher user experience.
Fig. 9 shows a flowchart of an implementation of a method for manipulating a floating rocker key, which includes the following steps:
s301: acquiring magnetic induction data according to the position change of the suspension rocker key;
s302: analyzing the magnetic induction data to obtain a user control instruction corresponding to the magnetic induction data;
s303: controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
s304: and receiving the aerial image of the unmanned aerial vehicle, and displaying the aerial image.
The method comprises the following steps: at least one the suspension is shaken the key, every the suspension is shaken the key and is put up with an unmanned aerial vehicle is only corresponding, just the acceleration that the suspension was shaken the key and is produced when the position change with the acceleration change of unmanned aerial vehicle flight corresponds.
Wherein, the receipt unmanned aerial vehicle's image of taking photo by plane, and show the image of taking photo by plane includes: and receiving the even-numbered line aerial images and the odd-numbered line aerial images from the unmanned aerial vehicle, and controlling the display module to alternately display the even-numbered line aerial images and the odd-numbered line aerial images.
The controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction comprises: when the spacing distance of at least two unmanned aerial vehicles is less than the set value, combine the spacing distance adjustment unmanned aerial vehicle's airspeed.
The method further comprises the following steps: and if the occurrence frequency of the interval distance smaller than the set value is greater than the set frequency, matching a corresponding operation mode, and providing a flight control action track packet, wherein the flight control action track packet stores the position change information of the suspension rocker key in advance.
It should be noted that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing apparatus, and will not be described in too much detail herein.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A suspension rocking key control device is characterized by comprising a signal processing module, a suspension rocking key suspended in a magnetic field above a magnetic induction plate, a magnetic data acquisition module and a display module, wherein the magnetic data acquisition module and the display module are arranged on the magnetic induction plate; the device comprises at least one suspension rocking key, each suspension rocking key is uniquely corresponding to one unmanned aerial vehicle, and the acceleration generated by the suspension rocking key when the position of the suspension rocking key is changed corresponds to the flying acceleration change of the unmanned aerial vehicle; wherein the suspension rocking key is a magnetic robot; after the suspension rocking key is hit or touched each time, the suspension rocking key can be restored to the position before being hit or touched under the action of magnetic force;
the magnetic data acquisition module is used for acquiring magnetic induction data from the magnetic induction plate according to the position change of the suspension rocker key and sending the magnetic induction data to the signal processing module;
the signal processing module is used for analyzing the magnetic induction data and acquiring a user control instruction corresponding to the magnetic induction data; controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
the signal processing module is also used for receiving aerial images from the unmanned aerial vehicle and controlling the display module to display the aerial images.
2. The apparatus of claim 1, wherein the signal processing module is further to:
and receiving the even-numbered line aerial images and the odd-numbered line aerial images from the unmanned aerial vehicle, and controlling the display module to alternately display the even-numbered line aerial images and the odd-numbered line aerial images.
3. The apparatus of claim 1, wherein the signal processing module is further to:
when the spacing distance of at least two unmanned aerial vehicles is less than the set value, combine the spacing distance adjustment unmanned aerial vehicle's airspeed.
4. The apparatus of claim 3, wherein the apparatus further comprises a pattern matching module,
and if the occurrence frequency of the interval distance smaller than the set value is greater than the set frequency, the mode matching module is used for matching a corresponding operation mode for the device and providing a flight control action track packet, and the flight control action track packet stores position change information of the suspension rocking key in advance.
5. A method for controlling a suspended rocker key is characterized by comprising the following steps:
acquiring magnetic induction data according to the position change of the suspension rocker key; the device comprises at least one suspension rocking key, each suspension rocking key is uniquely corresponding to an unmanned aerial vehicle, and the acceleration generated by the suspension rocking key when the position changes corresponds to the flying acceleration change of the unmanned aerial vehicle; wherein the suspension rocking key is a magnetic robot; after the suspension rocking key is hit or touched each time, the suspension rocking key can be restored to the position before being hit or touched under the action of magnetic force;
analyzing the magnetic induction data to obtain a user control instruction corresponding to the magnetic induction data;
controlling the flight attitude of the unmanned aerial vehicle according to the user control instruction;
and receiving the aerial image of the unmanned aerial vehicle, and displaying the aerial image.
6. The method of claim 5, wherein the receiving aerial imagery of the drone and displaying the aerial imagery comprises: and receiving the even-numbered line aerial images and the odd-numbered line aerial images from the unmanned aerial vehicle, and controlling the display module to alternately display the even-numbered line aerial images and the odd-numbered line aerial images.
7. The method of claim 5, wherein the controlling the flight attitude of the drone according to the user manipulation instruction comprises:
when the spacing distance of at least two unmanned aerial vehicles is less than the set value, combine the spacing distance adjustment unmanned aerial vehicle's airspeed.
8. The method of claim 7, further comprising:
and if the occurrence frequency of the interval distance smaller than the set value is greater than the set frequency, matching a corresponding operation mode, and providing a flight control action track packet, wherein the flight control action track packet stores the position change information of the suspension rocker key in advance.
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| CN114926917B (en) * | 2022-06-02 | 2024-07-23 | 台州宏创电力集团有限公司科技分公司 | Magic cube and control method thereof |
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